A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions.
The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance.
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